Kongsberg Maritime: Bandak Light Weight Taut Wire MK 15B Operation Manual

Kongsberg Maritime
Bandak Light Weight Taut Wire

Mk 15B Operation Manual
Supplier: Bandak AS
Reference: -
Version: A
178540/A
Bandak
Light Weight Taut Wire Mk 15B
Volume 2 Operation Manual
Sagamoen, N-3825 Lunde, Norway

Phone +47 35 94 66 00 Fax +47 35 94 66 01
www. bandak.no
Light Weight Taut Wire Mk 15B Operation and Maintenance Manual
Document revisions
Written by Checked by Approved by
Rev.
Date Sign. Date Sign. Date Sign.
A 21/9-04 SL 25/9-04 HT 30/9-04 SL
B
C
D
2
Table of contents
1 INTRODUCTION .......................................................................................................... 5
2 ABBREVIATIONS......................................................................................................... 6
3 TECHNICAL DATA...................................................................................................... 7
3.1 Operational Specifications ......................................................................................... 7
3.2 System Accuracy....................................................................................................... 7
4 TECHNICAL DESCRIPTION ..................................................................................... 9

4.1 Principle of Operation ............................................................................................... 9
4.2 Hydraulic System .................................................................................................... 12
4.3 Winch System.......................................................................................................... 13
4.4 Tension Compensating System ............................................................................... 13
4.5 Control System........................................................................................................ 13
4.6 Heating System........................................................................................................ 14
5 OPERATION ................................................................................................................ 15
5.1 Setting in Operation................................................................................................. 17
5.2 Parking..................................................................................................................... 22
5.3 Winding Wire .......................................................................................................... 24
3
Document History
Rev A Initial Issue
4
1 INTRODUCTION
The Taut Wire is a position reference system intended for a
deck-mounted, starboard or portside position, on most surface vessels.
The purpose of the Taut Wire is to give accurate input data, related to
vessel movement, to the vessel's data processing system to calculate
vessel position corrections.
The purpose of this manual is to provide the user a general
understanding of the principles, and instructions for operation of the
MK15 Taut Wire System.
Note All technical description, information and specification given in this

manual are subject to change without further notice.
5
2 ABBREVIATIONS
Abbreviation Explanation
DC Direct Current
DP Dynamic Positioning
KM Kongsberg Maritime
LTW Light Weight Taut Wire
PLC Programmable Logic Controller
TB Terminal Board
TW Taut Wire
UPS Uninterruptible Power Supply
6
3 TECHNICAL DATA
3.1 Operational Specifications
LTW MK15-300 / 500

Wire length 700 m
Wire diameter 4,9 mm +/- 0,1 mm
Min. wire breaking load 18 kN
Calculated breaking load 22 kN
Depressor weight 360 kg / 465 kg
Depressor weight volume 50 litres / 65 litres
Max. operational depth 300m / 500 m (with ATWC installed)
2
Max. wire acceleration 2,5 m/s
Max. wirespeed 2,5 m/s
Mooring tension 150-300 (adjustable)
Tension variation +/- 10 %
Max.heave compensation A vailable wire length
o
Max. wire angle Mechanical stop at 25
Hoist / Lower speed Adjustable 0-1.5 m/s
3.2 System Accuracy
DEVIATION IN METERS
CURRENT AT SEA SURFACE 0 m/s 0,5 m/s
CURRENT AT SEABED 0 m/s 0,5 m/s
o o o o o o
WIRE ANGLE 0 10 20 0 10 20
200 Kp WATER DEPTH
MOORING 100 0 0,6 1,2 2,4 2,9 3,5
TENSION 200 0 1,8 3,5 9,3 11,2 13,0
300 0 3,5 7,6 20,2 23,3 28,0
WATER DEPTH
300 Kp 100 0 0,5 1,0 2,0 2,5 3,0
MOORING 200 0 1,5 3,0 8,0 9,5 11,0
TENSION 300 0 3,0 6,6 18,0 20,0 24,0
400 0 5,0 11,0 31,0 35,0 41,0
7
Figure 3.1 Overall Dimensions
LTW MK15
Total weight 2150 kg not incl. Depr. weight
8
4 TECHNICAL DESCRIPTION
4.1 Principle of Operation

The purpose of the Taut Wire is to give accurate input data, related to
vessel movement, to the vessel data processing system to calculate
vessel position corrections.
The Taut Wire system is fundamentally electro-hydraulic-pneumatic
and requires electrical and air supply from the vessel.
The wire rope, although thin to reduce the "offsets" caused by
underwater current disturbance, is strong enough to heave the weight
with a safety factor of 400 percent. Control of the system is effected
from either of two control panels; main control panel (local) or optional
bridge control panel (remo te).
The wire rope is tightened against the depressor weight (on the seabed)
with a constant tension by means of a pneumatically and servo electric
"mooring" control system. Any movement of the vessel in either or
both of the X (alongship) or Y (beam) co-ordinates, will cause a
deviation of the tensioned wire rope from the vertical. This deviation
activates potentiometers mounted in the gimbal (sensor) head and
produce changes of analogue data directly proportional to the X-Y
inclination of the gimbal head.
The analogue wire length measurement is obtained from a measuring
device driven by the moving wire.
The DP system contains an accurate model of the dynamics of the
vessel which simulates the vessel's response to various forces e.g. wind,
wave and current disturbance.
Deviations in the specified position of the vessel (detected by changes
above analogue input parameters) will be processed by the software
model to generate appropriate corrective commands to the vessel's
propeller and rudder system.
9
Wave and Current

Disturbance
Wind
Taut Wire
Feed
Forward
Measured
State
Propeller/
Rudder
Command
+
+
Depressor
Weight
Optimum
Gain
Figure 4.1 Principle of DP System Operation
10
Figure 4.2 Taut Wire Main Parts
11
4.2 Hydraulic System

The Hydraulic System operates the boom between the parked and the
operating position.
The system is powered by a small hydraulic power unit, and is
automatically controlled and operated by the PLC system.
The hydraulic system gear pump is driven by a 3-phase, 440 V, 60 Hz,
1.5 kW AC motor IP class 56.
Hydraulic oil tank has a capacity of 10 litres Mobile DTE 13 M or
equivalent
Figure 4.2 Cabinet Door Removed
12
4.3 Winch System

The winch lower and hoist the depressor weight to and from the seabed.
The winch is powered by a electrical powered servomotor, and the
servo system is equipped with a fail-safe magnetic brake located
between the servomotor and the gear.
The system is automatically controlled and is operated by the amplifier
and the PLC.
Electrical power are from the vessel’s own supply.
A K10J132MX4 IP 66 Special Asynchron Servomotor, giving 84Nm
at 2030 rpm/18 kW powers the winch drum. Max. moment is 168 Nm.
The SEW gear system (gear ratio 1:12) is bringing the maximum torque
up to 1200 Nm.
4.4 Tension Compensating System

The system activates the electrical powered servomotor whenever the
wire tension is deviating from the set-point in mooring mode.
Compensating cylinders air pressure is manually set and automatically
controlled by the pressure regulator. Actual pressure is indicated on the
manometer. Wire tension is directly related to the cylinder air pressure
i.e. increased pressure gives increased tension and visa versa.
Pressurised air is from the vessel’s own supply.
Wire tension is recorded by the load cells (2) located under the wire
angle compensator and visualized on a gauge located on the local
operating panel.
4.5 Control System

The hydraulic and winch drive systems are automatically controlled
and operated by a Telemecanique TSX Micro PLC system.
The local control panel, is situated on the taut wire cabinet R/H side
and has the following equipment
• Main power switch
• PLC terminal
• Mooring indicator lamp
• Mooring tension indicator (optional)
• Joystick for manual hoisting and lowering
13
A pressure manometer, located on hydraulic cabinet is, when pump is

running, indicating max. hydraulic working pressure. The pressure is
manually set and automatically controlled by the hydraulic pressure
regulator valve.
Air pressure manometer for air cylinder pressure (tension) control and
adjustment is located on the air pressure regulator inside the cabinet.
The air dumping valve is set to dump the tension compensating
cylinder air pressure whenever the taut wire is outside mooring mode.
The set point is adjusted at the bottom of the valve and should give an
air pressure corresponding to 150 kp tension.
4.6 Heating System

Heating elements in electrical motors and outdoor cabinet provides
heating while the main power switch at the local control panel is
switched “OFF” to prevent condensation.
14
5 OPERATION
Wire tension
Figure 5.1 Local Operator Panel
Button Display Action

F1 Wirelength: 0 m
TW Control Hoist Hoisting weight.
F2 Wirelength: 0 m Activating brake.
TW Control TW Ready Controlled braking
F3 Wirelength: 0 m
TW Control Lower Lower weight.
F4 Codeword: 0 Mod, 7533, Enter, Mod, Mod
New Wire : 0 m Mod, 500 (alt. 700) ,Enter
F5 Wirelength: 0 m Hold until 0 m is displayed
TW Control WL Zero Hold for 2 sec. Reset of Wirecounter.
F6 TW Control TW Ready Taut Wire Control selected.
F7 Wirelength: 0 m
TW Control Boom In Boom to parked position.
F8 Wirelength: 0 m
TW Control Boom Out Boom to operating position.
F9 Bridge Control TW ready Bridge Control selected
F 10 Wirelength: 0 m Wire length available on drum.
TW Control TW Ready
F 11 Date : Time:
F 12 Available Wire: XXX m If wire has to be cut:
Wire Cut: 000 m Mod, enter cut wire in meter, Enter
Table 5.1 Local Control Panel Button Functions

15
Figure 5.2 Optional Remote Operator Panel
Button Display Action
F1 Wirelength: 0 m Hoisting depressor weight.

TW Control Hoist
F2 Wirelength: 0 m Activating brake.

TW Control TW Ready Controlled braking
F3 Wirelength: 0 m Lower weight.

TW Control Lower
F4 Bridge Control TW Ready Bridge Control Selected
ENTER N/A N/A
Table 5.2 Remote Control Panel Button Functions
16
The operation of the Taut Wire System is divided into three modes:
• Setting in Operation - This procedure puts the system into the
operational mode, i.e. providing position-reference data.
• Parking - This procedure puts the system back to the parked
position, i.e. boom and depressor weight inboard, with the boom in
its stowage position and the weight resting in its cradle.
• Winding Wire - Whenever it is necessary to wind off or on wire
from the drum.
5.1 Setting in Operation

Note This operation should be carried out with the vessel as stationary as
possible, particularly when placing the depressor weight on the seabed.
Four factors are vital to the correct function of the Taut Wire System,
particularly when operating in shallow water:
• Seabed Condition.
Select whenever possible a sea bed condition that will give good
adherence to the weight - a hard surface may allow dragging.
• Working Angle.
Angle between the depressor weight and the gimbal head. Keep wire
operating-angle from the vertical to a minimum - as the horizontal
forces acting upon the weight, and chances of dragging, increases
with the angle.
• Wire Mooring Tension.
Verify that the correct mooring tension is maintained by checking
the mooring tension metre on the main control panel (option) or by
checking the air pressure in the tension compensating system.
• Pitch and Roll of the vessel.
Avoid using the Taut Wire if the rate of the vessel's pitch and roll
exceeds the maximum speed and acceleration capability of the
mooring system.
17
Figure 5.3 Operational Mode

The starting procedure is for safety reasons solely effected from the
Taut Wire Control Panel, but the Taut Wire Control may be transferred
to the Bridge Control Panel (option) where it remains throughout the
positioning operation.
Note Hydraulic power will only be available when BOOM OUT, or BOOM
IN mode is activated, and 10 seconds after
18
STEP PROCEDURE COMMENT
1 Check air lubricating system Fill up with Mecman oil if necessary
2 Drain and pressurise tension 3 bar is theoretically corresponding to 200 kp

compensating system. tension (appox. 4.2 bar = 300 kp)
NOTE!
Do not exceed recommended pressure limits as
this may result in damaged gimbal head and
loss of depressor weight.
3 Check wire rope for proper alignment

with regard to wire guide wheels etc.
4 Set MAIN SWITCH to "ON" “CONNECTING” is displayed throughout the PLC

self test program.
WARNING!
Do not operate buttons or joystick before “TW
READY” is displayed.
5 Press F1 “WINCH HOIST” Check that weight is stabilised in weight catcher.
WARNING!
Never press F2 “Winch Stop” prior to operate the
boom. If doing so, the brake will be activated and
the boom in/out movement will most likely cut the
wire.
NOTE!
With reference to the warning above, its vital that
taut wire is still in “HOIST” mode during boom in/out
operation to allow wire to be paid off the drum.
6 Press F5 “WIRELENGTH RESET” Check that “WIRELENGTH 0 m” is displayed before

and hold until 0 m is displayed proceeding to next step.
19
7 Press F8 “BOOM OUT” “BOOM OUT” is displayed.
Hydraulic system is activated and pressure gage

indicates max. 200 bar.
Boom moves as long as F8 is pressed. Ensure that

boom has reached its operating position.
8 Press F2 “WINCH STOP” The winch brake will engage and relieve the
servomotor from the load of the depressor weight.
The taut wire should never be left in “HOIST” mode

for more than a few minutes as the servo system
might trip due to overtemperature.
9 Press F3 “WINCH LOWER” “WINCH LOWER” is displayed.
Weight will descend at a speed of 1 m/s.
Wire length paid out will be displayed.
NOTE!
The joystick may override «WINCH LOWER».
Mooring light comes on as soon as weight has

reached seabed.
10 Check that mooring tension is as Adjust air pressure if necessary.

required.
11 Press F9 “BRIDGE CONTROL” If “BRIDGE REMOTE CONTROL” is installed

(option).
“Bridge Control” is displayed.
To regain TW Control, press F 6.
20
12 Close and secure the Taut Wire Control

Panel door.
21
5.2 Parking
For both practical and safety reasons this procedure is effected
solely from the local panel.
Note This procedure should always be carried out at completion of
every operation before attempting to move the vessel to a new
operational area.
WARNING Due to the boom over-centre position when parked, the
Depressor Weight is part of the boom locking system and
must not be removed unless the boom is mechanically
secured.
Figure 5.4 Parked Mode
22

1 Press F6 “TW CONTROL” is displayed.
2 Press F1 "WINCH HOIST" Winch starts hoisting.
Hoisting speed reduces to 0,3 m/s the last 3 metre.
NOTE!
"WINCH HOIST" can be overridden by the
joystick.
For safer hoisting and better weight control it is
recommended to stop weight a few meters below
the water surface and manually hoist the weight up
to the weight catcher. Note also that the last
meters of hoisting have reduced speed.
Check that weight is secured in catcher before

proceeding to next step.
If joystick is used to override the hoist function,
stop mode is activated when joystick is released.
(Zero position)
WARNING!
Before “BOOM IN”, ensure that taut wire is in
“HOIST” mode.
3 Press F7 "BOOM IN" NOTE!

The boom can be stopped in any position
4 Operate the joystick and manually WARNING!

lower the weight into the basket. For safety reasons, use manual lowering only.
5 Turn MAIN SWITCH to "OFF" position
6 Close and secure panel door
7 Drain water from air reservoir and air NOTE!

pressure regulators In case of long operation stops, depressurise air
system.
23
5.3 Winding Wire
1 Turn MAIN SWITCH to "ON" Wait till "T W READY" is displayed.
2 Using joystick unwind wire
3 Cut off necessary length of wire and re-

attach wire to weight
4 Pull in slack using joystick.
5 Press F12 “WIRE CUT”
6 Press “MOD” Repress “MOD” to change line.
7 Punch in chopped wire in metre

(15 = - 15 metres)
8 Press ENTER The PLC will now calculate remaining wire length.
9 Press F2 Returning to normal mode
10 Turn MAIN SWITCH "OFF" and close

and secure panel door.
Note It is not possible to reset wire length when more than 20 metres
are displayed. To get the reading below 20 metres, turn wire
counter wheel backwards.
24

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Kongsberg Maritime

Bandak Light Weight Taut Wire

Sagamoen, N-3825 Lunde, Norway

4 TECHNICAL DESCRIPTION ..................................................................................... 9

Note All technical description, information and specification given in this

3.1 Operational Specifications

LTW MK15-300 / 500

3.2 System Accuracy

Figure 3.1 Overall Dimensions

4.1 Principle of Operation

Wave and Current

Figure 4.1 Principle of DP System Operation

Figure 4.2 Taut Wire Main Parts

4.2 Hydraulic System

Figure 4.2 Cabinet Door Removed

4.3 Winch System

4.4 Tension Compensating System

4.5 Control System

A pressure manometer, located on hydraulic cabinet is, when pump is

4.6 Heating System

Figure 5.1 Local Operator Panel

Button Display Action

Table 5.1 Local Control Panel Button Functions

Figure 5.2 Optional Remote Operator Panel

Button Display Action

F1 Wirelength: 0 m Hoisting depressor weight.

F2 Wirelength: 0 m Activating brake.

F3 Wirelength: 0 m Lower weight.

F4 Bridge Control TW Ready Bridge Control Selected

ENTER N/A N/A

Table 5.2 Remote Control Panel Button Functions

5.1 Setting in Operation

Figure 5.3 Operational Mode

STEP PROCEDURE COMMENT

1 Check air lubricating system Fill up with Mecman oil if necessary

2 Drain and pressurise tension 3 bar is theoretically corresponding to 200 kp

3 Check wire rope for proper alignment

4 Set MAIN SWITCH to "ON" “CONNECTING” is displayed throughout the PLC

5 Press F1 “WINCH HOIST” Check that weight is stabilised in weight catcher.

6 Press F5 “WIRELENGTH RESET” Check that “WIRELENGTH 0 m” is displayed before

STEP PROCEDURE COMMENT

7 Press F8 “BOOM OUT” “BOOM OUT” is displayed.

Hydraulic system is activated and pressure gage

Boom moves as long as F8 is pressed. Ensure that

The taut wire should never be left in “HOIST” mode

9 Press F3 “WINCH LOWER” “WINCH LOWER” is displayed.

Weight will descend at a speed of 1 m/s.

Wire length paid out will be displayed.

Mooring light comes on as soon as weight has

10 Check that mooring tension is as Adjust air pressure if necessary.

11 Press F9 “BRIDGE CONTROL” If “BRIDGE REMOTE CONTROL” is installed

“Bridge Control” is displayed.

To regain TW Control, press F 6.

STEP PROCEDURE COMMENT

12 Close and secure the Taut Wire Control

Figure 5.4 Parked Mode

STEP PROCEDURE COMMENT

2 Press F1 "WINCH HOIST" Winch starts hoisting.

Hoisting speed reduces to 0,3 m/s the last 3 metre.

Check that weight is secured in catcher before

3 Press F7 "BOOM IN" NOTE!

4 Operate the joystick and manually WARNING!

5 Turn MAIN SWITCH to "OFF" position